Updater Class Reference

Base class for EKF updater classes. More...

#include <updater.hpp>

Inheritance diagram for Updater:

Public Member Functions
	Updater (unsigned int sensor_id, std::shared_ptr< DebugLogger > logger)
	EKF Updater constructor. More...

Static Public Member Functions
static void	KalmanUpdate (EKF &ekf, const Eigen::MatrixXd &jacobian, const Eigen::VectorXd &residual, const Eigen::MatrixXd &measurement_noise_input)

Protected Attributes
unsigned int	m_id
	Associated sensor ID.
std::shared_ptr< DebugLogger >	m_logger
	Debug logger.

Detailed Description

Base class for EKF updater classes.

Constructor & Destructor Documentation

Updater()

Updater::Updater ( unsigned int  sensor_id, std::shared_ptr< DebugLogger >  logger  )

explicit

EKF Updater constructor.

Parameters

sensor_id	Sensor ID
logger	Debug logger pointer

Member Function Documentation

KalmanUpdate()

void Updater::KalmanUpdate ( EKF &  ekf, const Eigen::MatrixXd &  jacobian, const Eigen::VectorXd &  residual, const Eigen::MatrixXd &  measurement_noise_input  )

static

Todo:

switch to passing EKF pointer

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The documentation for this class was generated from the following files:

• src/ekf/update/updater.hpp
• src/ekf/update/updater.cpp